Mercurial Hosting > traffic-intelligence
comparison c/feature-based-tracking.cpp @ 535:5ad2f51ae42f
cleaning up initialization of intrinsic matrix
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Sun, 29 Jun 2014 23:31:38 -0400 |
parents | d0419b1267dd |
children | a3add9f751ef |
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534:d0419b1267dd | 535:5ad2f51ae42f |
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71 | 71 |
72 Mat homography = ::loadMat(params.homographyFilename, " "); | 72 Mat homography = ::loadMat(params.homographyFilename, " "); |
73 Mat invHomography; | 73 Mat invHomography; |
74 if (params.display && !homography.empty()) | 74 if (params.display && !homography.empty()) |
75 invHomography = homography.inv(); | 75 invHomography = homography.inv(); |
76 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " "); | |
77 //cout << intrinsicCameraMatrix << endl; | |
78 | 76 |
79 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement; | 77 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement; |
80 Size window = Size(params.windowSize, params.windowSize); | 78 Size window = Size(params.windowSize, params.windowSize); |
81 | 79 |
82 int interpolationMethod = -1; | 80 int interpolationMethod = -1; |
112 cout << "Video " << params.videoFilename << | 110 cout << "Video " << params.videoFilename << |
113 ": width=" << videoSize.width << | 111 ": width=" << videoSize.width << |
114 ", height=" << videoSize.height << | 112 ", height=" << videoSize.height << |
115 ", nframes=" << nFrames << endl; | 113 ", nframes=" << nFrames << endl; |
116 | 114 |
117 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone(); | |
118 Mat map1, map2; | 115 Mat map1, map2; |
119 if (params.undistort) { | 116 if (params.undistort) { |
117 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " "); | |
118 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone(); | |
120 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication))); | 119 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication))); |
121 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.; | 120 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.; |
122 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.; | 121 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.; |
123 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2); | 122 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2); |
124 | 123 |